No planning scene updates in Rviz after #716.
dornhege opened this issue · comments
I run a robot in simulation, start move_group and Rviz.
roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch pr2_moveit_config move_group.launch
rosrun rviz rviz
roslaunch pr2_teleop_general pr2_teleop_general_keyboard.launch
The planning scene initially appears, but when moving the robot head via teleop is never updated. The robot state doesn't change and the Octomap isn't updated. This seems quite basic, can someone confirm this is an issue?
If I go back to before #716 everything works as expected. I haven't followed, what exactly is happening there, but as it deals with updates I suspect, but cannot confirm that this is the cause.
The newPlanningSceneCallback seems to never be called, although rostopic hz shows messages on the monitored_planning_scene topic.
I've tried with indigo-devel and also merging in #728 in its current state.
do you have a simple way by which I could reproduce this bug?
The most objective thing I have found besides "looking" is to put a printout in planning_scene_monitor.cpp newPlanningSceneCallback. Then just run moveit and the RViz plugin. This printout should (as far as I understand everything) always come, when things are working correctly. To be safe put rostopic hz
on the topic set in rviz (i.e. /move_group/monitored_planning_scene).
Compare indigo-devel and ros-planing/moveit_ros@ae51d07d5b1b848d87acb8c7dacb078b17d9c5ca.
Digging through RViz warnings I found this:
[1470311817.138041964, 2197.807000000] ros.roscpp: AsyncSpinnerImpl: Attempt to start() an AsyncSpinner failed because another AsyncSpinner is already running. Note that the other AsyncSpinner might not be using the same callback queue as this AsyncSpinner, in which case no callbacks in your callback queue will be serviced.
On Thu, Aug 04, 2016 at 05:10:29AM -0700, Christian Dornhege wrote:
Digging through RViz warnings I found this:
[1470311817.138041964, 2197.807000000] ros.roscpp: AsyncSpinnerImpl: Attempt to start() an AsyncSpinner failed because another AsyncSpinner is already running. Note that the other AsyncSpinner might not be using the same callback queue as this AsyncSpinner, in which case no callbacks in your callback queue will be serviced.
I suppose this means seals the revert question then.
I'll have a look at it this evening.
Fixed with #742 .